CN113364329B - Overmodulation output maximization method and system of 3D-AZSPWM modulation strategy - Google Patents

Overmodulation output maximization method and system of 3D-AZSPWM modulation strategy Download PDF

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CN113364329B
CN113364329B CN202110747673.3A CN202110747673A CN113364329B CN 113364329 B CN113364329 B CN 113364329B CN 202110747673 A CN202110747673 A CN 202110747673A CN 113364329 B CN113364329 B CN 113364329B
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phase
modulation
overmodulation
voltage vector
reference voltage
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CN113364329A (en
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杨淑英
王顺
张兴
谢震
马铭遥
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Delta Electronics Shanghai Co Ltd
Hefei University of Technology
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Hefei University of Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
    • H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
    • H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
    • H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
    • H02M7/53875—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with analogue control of three-phase output
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
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    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/28—Stator flux based control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H02P25/024—Synchronous motors controlled by supply frequency
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/02—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using supply voltage with constant frequency and variable amplitude
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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Abstract

A3D-AZSPWM modulation strategy overmodulation output maximization method and a system belong to the technical field of inverter modulation, and solve the problem of how to calculate the maximum linear modulation degree of a 3D-AZSPWM modulation strategy, and improve the modulation range of the 3D-AZSPWM modulation strategy through an overmodulation technology while not changing the characteristics of a differential mode component and a common mode component which are simultaneously modulated by the 3D-AZSPWM modulation strategy.

Description

Overmodulation output maximization method and system of 3D-AZSPWM modulation strategy
Technical Field
The invention belongs to the technical field of inverter modulation, and relates to a method and a system for maximizing overmodulation output of a 3D-AZSPWM modulation strategy.
Background
The 3D-AZSPWM modulation strategy synthesizes a reference voltage vector by using six non-zero basic vectors, can simultaneously modulate a differential mode component and a common mode component of the reference voltage vector, and can effectively reduce a common mode voltage peak value output by an inverter, so that the 3D-AZSPWM modulation strategy is widely applied to zero-sequence circulating current control needing to modulate common mode voltage, such as a common direct current bus and common neutral line double-inverter open winding topological structure, a three-phase four-leg inverter and the like. Compared with the traditional SVPWM (space vector pulse width modulation) strategy only focusing on differential mode component modulation, the 3D-AZSPWM modulation strategy is limited in the modulation output range of the differential mode component due to the fact that the common mode component is modulated at the same time, so that related linear modulation range calculation and a corresponding overmodulation scheme are urgently needed to expand the modulation range of the differential mode component, and the applicability of the 3D-AZSPWM modulation strategy is improved.
In the prior art, a document 'research on zero-sequence loop current suppression strategy for common direct-current bus open-winding asynchronous motor' (Yang Shuying et al, china Motor engineering, volume 38, vol.38, page 12 3688-3698 in 2018), published on the date of 2018, 6, month and 20, discloses that a 3D-AZSPWM modulation strategy is used for realizing zero-sequence loop current closed-loop control of a common direct-current bus double-inverter open-winding system, but the document does not specifically provide the maximum linear modulation degree of the 3D-AZSPWM modulation strategy and a related overmodulation strategy. The document "open winding asynchronous motor control strategy research based on common neutral wire topology" (Yang shuying et al, china Motor engineering newspaper, 40, vol. 11, pp. 3681-3691) published at 6/5/2020 discloses that the 3D-AZSPWM modulation strategy is used for realizing zero-sequence circulating current closed loop control of a common neutral wire double-inverter open winding system, but the linear modulation degree range and the related overmodulation strategy of the 3D-AZSPWM modulation strategy are not given.
In summary, the prior art has the following problems: 1) For a 3D-AZSPWM modulation strategy, the prior art only provides a basic synthesis principle and an implementation process, and does not provide a linear modulation range, namely the maximum linear modulation degree, of the 3D-AZSPWM modulation strategy; 2) A compensation scheme for overmodulation of a 3D-AZSPWM modulation strategy is not given, so that the application range of the 3D-AZSPWM modulation strategy cannot be effectively expanded by adopting an overmodulation constraint scheme.
Disclosure of Invention
The invention aims to calculate the maximum linear modulation degree of a 3D-AZSPWM modulation strategy, effectively follow a modulation instruction through an overmodulation technology on the premise of not changing the characteristic that the 3D-AZSPWM modulation strategy modulates a differential mode component and a common mode component at the same time, realize the maximization of overmodulation output and improve the modulation range of the 3D-AZSPWM modulation strategy.
The invention solves the technical problems through the following technical scheme:
A3D-AZSPWM modulation strategy overmodulation output maximization method comprises the following steps:
step S1, calculating a reference voltage vector V ref Of the alpha-beta plane component m 1 Phase of the magnetic flux
Figure BDA0003143507690000021
And modulation degree M 1 Calculating a reference voltage vector V ref Gamma axis component V of γ Amplitude m of 3 And phase
Figure BDA0003143507690000022
Calculating a reference voltage vector V ref Characteristic phase difference of
Figure BDA0003143507690000023
And reference voltage vector V ref Overmodulation modification curve of (d);
step S2, according to the amplitude m in the step S1 3 And characteristic phase difference
Figure BDA0003143507690000024
Calculating the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy max1 And maximum compression modulation degree M max2 ；
Step S3, according to the modulation degree M 1 Maximum linear modulation M max1 And maximum compression modulation degree M max2 And performing overmodulation judgment:
when calculating M 1 <M max1 In the time, the linear modulation region is adopted, the wave-sending control of the linear modulation region is adopted, and the method comprises the following steps: according to V α 、V β And V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 、t 2 、t 3 And t 4 Wave generation control is carried out;
when calculating M max1 ≤M 1 ≤M max2 In the time, the overmodulation region is adopted for wave generation control, and the method comprises the following steps:
according to a reference voltage vector V ref Over-modulation modification curve and modulation degree M 1 Calculating an overmodulation modified reference voltage vector
Figure BDA0003143507690000025
Of (2) is obtained
Figure BDA0003143507690000026
Modifying the reference voltage vector based on overmodulation
Figure BDA0003143507690000027
Amplitude of
Figure BDA0003143507690000028
Calculating overmodulation modified reference voltage vectors
Figure BDA0003143507690000029
Alpha axis component of
Figure BDA00031435076900000210
And overmodulation modified reference voltage vector
Figure BDA00031435076900000211
Beta axis component of (2)
Figure BDA00031435076900000212
When t is 1 Not less than 0 and t 4 When not less than 0, is a circular arc area of the overmodulation area
Figure BDA00031435076900000213
And V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM (three-dimensional-sinusoidal pulse Width modulation) strategy 1 、t 2 、t 3 And t 4 Wave generation control is carried out;
when t is 1 <0 or t 4 <At 0, the boundary region of the overmodulation region is the modified reference voltage vector V r * ef The α - β plane component of (a) is modified:
first according to
Figure BDA00031435076900000214
And V γ For reference voltage vector after overmodulation modification
Figure BDA00031435076900000215
Judging the serial number of the modulation body in which the modulation body is positioned, and selecting a corresponding compression plane constraint equation according to the judged serial number of the modulation body; the constraint equation of the output maximization compression scheme is as follows:
Figure BDA0003143507690000031
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003143507690000032
modifying a post-reference voltage vector for overmodulation
Figure BDA0003143507690000033
The modified alpha-axis component,
Figure BDA0003143507690000034
Modifying a post-reference voltage vector for overmodulation
Figure BDA0003143507690000035
A modified beta axis component;
then, the reference voltage vector after the over modulation modification is obtained by simultaneous calculation with the constraint equation of the output maximization compression scheme
Figure BDA0003143507690000036
Modified alpha axis component
Figure BDA0003143507690000037
Component of beta axis
Figure BDA0003143507690000038
Finally, the modified reference voltage vector is modified according to overmodulation
Figure BDA0003143507690000039
Modified alpha axis component
Figure BDA00031435076900000310
Beta axis component
Figure BDA00031435076900000311
And V γ Calculating the action time of the modified base voltage vector by using a 3D-AZSPWM (three-dimensional-amplitude-zero-crossing-pulse width modulation) modulation strategy
Figure BDA00031435076900000312
And
Figure BDA00031435076900000313
wave generation control is performed.
According to the technical scheme, the maximum linear modulation degree of the 3D-AZSPWM modulation strategy is obtained through calculation, the judgment of a spatial modulation body where a spatial modulation reference vector is located is given, a corresponding compression plane constraint equation and an output maximization compression scheme constraint equation are simultaneously established during overmodulation, the modulation range of the 3D-AZSPWM modulation strategy is improved through an overmodulation technology while the characteristic that the 3D-AZSPWM modulation strategy simultaneously modulates a differential mode component and a common mode component is not changed, the provided modulation scheme can effectively follow a modulation instruction while meeting the modulation requirement of the common mode component, overmodulation output maximization is achieved, and the applicability of the 3D-AZSPWM modulation strategy is effectively enhanced.
As a further improvement of the technical scheme of the invention, the reference voltage vector V is calculated in step S1 ref Of the alpha-beta plane component m 1 Phase of
Figure BDA00031435076900000314
And modulation degree M 1 The formula of (1) is:
Figure BDA00031435076900000315
wherein, V α 、V β Are respectively reference voltage vector V ref Projection components of coordinate axes alpha and beta in a three-dimensional space coordinate system are converted into direct current voltage U dc Per-unit values.
As a further improvement of the technical scheme of the invention, a reference voltage vector V is calculated in step S1 ref Gamma axis component V of γ Amplitude m of 3 And phase
Figure BDA00031435076900000316
The formula of (1) is as follows:
Figure BDA0003143507690000041
wherein, V γ，1 Is a first orthogonal component, V γ，2 Is a second orthogonal component; the first and second orthogonal components are pairs V γ Orthogonal decomposition is performed to obtain two components which are 90 degrees apart.
As a further improvement of the technical scheme of the invention, the reference voltage vector V is calculated in step S1 ref Characteristic phase difference of
Figure BDA0003143507690000042
The calculation formula is as follows:
Figure BDA0003143507690000043
wherein the content of the first and second substances,
Figure BDA0003143507690000044
is a reference voltage vector V ref Gamma axis component V of γ The phase of (a) is determined,
Figure BDA0003143507690000045
is a reference voltage vector V ref The phase of the alpha-beta plane component of (a).
As a further improvement of the technical scheme of the invention, the reference voltage vector V is calculated in step S1 ref The overmodulation modification curve of (c) is calculated as follows:
Figure BDA0003143507690000046
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003143507690000047
modifying a post-reference voltage vector for overmodulation
Figure BDA0003143507690000048
Amplitude of (e), theta 1 The first intermediate variable of the overmodulation modification curve and ar the second intermediate variable of the overmodulation modification curve.
As a further improvement of the technical scheme of the invention, the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy is calculated in step S2 max1 And maximum compression modulation degree M max2 The method specifically comprises the following steps:
defining a functional formula W 1 ，
Figure BDA0003143507690000049
Defining a functional formula W 2 ，
Figure BDA00031435076900000410
Wherein, theta 1 Has a value range of
Figure BDA0003143507690000051
At theta 1 Within the value range of (A) calculating the function formula W 1 Minimum value of W 1min Calculating a functional formula W 2 Minimum value of W 2min When W is 1min ≤W 2min When M is in contact with max1 ＝W 1min When W is 1min >W 2min When M is in contact with max1 ＝W 2min Calculating a functional curve W 1 Sum function formula W 2 The function value of the curve intersection point is M max2 。
As a further improvement of the technical solution of the present invention, the specific manner of judging the modulation entity number is as follows:
defining the intermediate variables judged by the serial number of the modulation body as a first variable A, a second variable B, a third variable C and a fourth variable N, and defining a functional formula F 1 ，
Figure BDA0003143507690000052
Definition function formula F 2 ，
Figure BDA0003143507690000053
Definition function formula F 3 ，
Figure BDA0003143507690000054
Then:
when F is present 1 When the ratio is more than or equal to 0, A =1; when F is present 1 <0, a =0; when F is present 2 B =1 when not less than 0; when F is present 2 <0, B =0; when F is 3 When the ratio is more than or equal to 0, C =1; when F is 3 <0, C =0; n = A +2B +4C;
each value of the fourth variable N corresponds to a modulation entity number, which is as follows: n =5 corresponds to modulator 1; n =1 corresponds to the modulator 2; n =3 corresponds to the modulator 3; n =2 corresponds to the modulator 4; n =6 corresponds to the modulator 5; n =4 corresponds to the modulator 6.
As a further improvement of the technical solution of the present invention, the specific way of selecting the corresponding compression plane constraint equation by the judged serial number of the modulation body is as follows:
the compression plane constraint equation of the modulator 1 is:
Figure BDA0003143507690000055
the compression plane constraint equation of the modulation volume 2 is:
Figure BDA0003143507690000056
the compression plane constraint equation of the modulator body 3 is:
Figure BDA0003143507690000057
the compression plane constraint equation of the modulation volume 4 is:
Figure BDA0003143507690000058
the compression plane constraint equation for the modulator 5 is:
Figure BDA0003143507690000059
the compression plane constraint equation for the modulating body 6 is:
Figure BDA00031435076900000510
a system applied to the overmodulation output maximization method of the 3D-AZSPWM modulation strategy comprises the following steps: first DC source U dc1 A second DC source U dc2 The three-phase inverter comprises a first three-phase two-level inverter VSI1, a second three-phase two-level inverter VSI2, a three-phase stator winding OEWIM, a neutral line I, a capacitor C1, a capacitor C2, a capacitor C3 and a capacitor C4;
the capacitor C1 and the capacitor C2 are connected in series and then connected to a first direct current source U dc1 Between the direct current positive bus P and the direct current negative bus N, the common node of the capacitor C1 and the capacitor C2 is marked as a point O; the capacitor C3 and the capacitor C4 are connected in series and then connected to a second direct current source U dc2 Between the direct current positive bus P 'and the direct current negative bus N', the common node of the capacitor C3 and the capacitor C4 is marked as a point O ', the connecting point O of the central line I and the point O', and the first direct current source U dc1 And a second DC source U dc2 All direct current voltages are U dc ；
In the three-phase bridge arm of the first three-phase two-level inverter VSI1, each phase of bridge arm comprises 2 switching tubes with anti-parallel diodes, that is, the first three-phase two-level inverter VSI1 comprises 6 switching tubes with anti-parallel diodes in total, and the 6 switching tubes are respectively marked as S n1j Wherein n represents a phase sequence, n = a, b, c, j represents the serial number of a switching tube, and j =1,2; the three-phase bridge arms of the first three-phase two-level inverter VSI1 are connected in parallel between the direct current positive bus P and the direct current negative bus N, namely a switch tube S a11 、S b11 、S c11 The collectors are connected in parallel and then are connected with a direct current positive bus P and a switching tube S a12 、S b12 、S c12 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N; in the three-phase arm of the first three-phase two-level inverter VSI1, a switching tube S a11 And a switching tube S a12 Series, switch tube S b11 And a switching tube S b12 Series, switch tube S c11 And a switching tube S c12 Are connected in series, and the connection points of the three-phase bridge arms are respectively marked as the three-phase bridge arm middle points a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 ；
In the three-phase bridge arm of the second three-phase two-level inverter VSI2, each phase of bridge arm comprises 2 switches with anti-parallel diodesThe second three-phase two-level inverter VSI2 includes 6 switch tubes with antiparallel diodes, and 6 switch tubes are respectively marked as S n2j (ii) a The three-phase bridge arms of the second three-phase two-level inverter VSI2 are mutually connected in parallel between the direct current positive bus P 'and the direct current negative bus N', namely a switch tube S a21 、S b21 、S c21 The collectors are connected in parallel and then connected with a direct current positive bus P', and a switching tube S a22 、S b22 、S c22 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N'; in the three-phase arm of the second three-phase two-level inverter VSI2, the switching tube S a21 And a switching tube S a22 Series, switch tube S b21 And a switching tube S b22 Series, switch tube S c21 And a switching tube S c22 Are connected in series, and the connection points of the three-phase bridge arms are respectively marked as the three-phase bridge arm middle points a of the second three-phase two-level inverter VSI2 2 、b 2 、c 2 ；
The three-phase stator winding OEWIM comprises a three-phase winding, and the left ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the midpoint a of a three-phase bridge arm of a first three-phase two-level inverter VSI1 1 、b 1 、c 1 The right ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the midpoint a of a three-phase bridge arm of a second three-phase two-level inverter VSI2 2 、b 2 、c 2 。
The invention has the advantages that:
according to the technical scheme, the maximum linear modulation degree of the 3D-AZSPWM modulation strategy is obtained through calculation, the judgment of a spatial modulation body where a spatial modulation reference vector is located is given, a corresponding compression plane constraint equation and an output maximization compression scheme constraint equation are simultaneously established during overmodulation, the modulation range of the 3D-AZSPWM modulation strategy is improved through an overmodulation technology while the characteristic that the 3D-AZSPWM modulation strategy simultaneously modulates a differential mode component and a common mode component is not changed, the provided modulation scheme can effectively follow a modulation instruction while meeting the modulation requirement of the common mode component, overmodulation output maximization is achieved, and the applicability of the 3D-AZSPWM modulation strategy is effectively enhanced.
Drawings
FIG. 1 is a common-neutral open-winding topology as referred to in the present invention;
FIG. 2 is a flow chart of an over-modulation operation in any of the modulators of the embodiments of the present invention;
FIG. 3 is an illustration of a 3D-AZSPWM modulation strategy overall modulator in an embodiment of the present invention;
FIG. 4 is a diagram illustrating a 3D-AZSPWM modulation strategy modulator separately according to an embodiment of the present invention;
FIG. 5 shows the gamma component V of the reference voltage vector calculated in step 1 under the condition that the parameters in the experiment are accurate γ Amplitude m of 3 Schematic diagram of the variation situation of (1);
FIG. 6 shows the reference voltage vector V calculated in step 1 under the condition that the parameters in the experiment are accurate ref Characteristic phase difference of
Figure BDA0003143507690000071
Schematic diagram of the variation of (1);
FIG. 7 is a schematic diagram of an overmodulation modification curve drawn in step 1 under the condition that the parameters in the experiment are accurate;
FIG. 8 is a functional curve W plotted in step 2 under the condition that the parameters in the experiment are accurate 1 Formula of sum function W 2 Curve and maximum linear modulation degree M of the 3D-AZSPWM modulation strategy obtained by calculation max1 And maximum compression modulation degree M max2 A schematic diagram;
fig. 9 is a schematic diagram of a change in amplitude of a fundamental voltage of a total output of a common-neutral open-winding electric drive system when modulation is performed using a 3D-AZSPWM strategy from a modulation degree M =0.72 to a modulation degree M =0.8 under the condition that parameters in an experiment are accurate;
fig. 10 shows the common-mode voltage amplitude output by the common-neutral open-winding electric drive system when the modulation degree M =0.72 to the modulation degree M =0.8 is modulated by using the 3D-AZSPWM strategy under the condition that the parameters in the experiment are accurate;
fig. 11 is a schematic diagram of changes in fundamental voltage THD output by the common-neutral open-winding electric drive system when modulation is performed using the 3D-AZSPWM strategy from the modulation degree M =0.72 to the modulation degree M =0.8 under the condition that each parameter is accurate in the experiment;
fig. 12 is a schematic diagram of the variation of the motor rotation speed under the control of the common-neutral open-winding electric drive system when the modulation degree M =0.72 and the modulation degree M =0.8 are modulated by using the 3D-AZSPWM strategy under the condition that the parameters in the experiment are accurate.
Fig. 13 is a graph showing the trend of the variation of the fourth variable N in the judgment of the modulator measured in the experiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical scheme of the invention is further described by combining the drawings and the specific embodiments in the specification:
example one
FIG. 1 is a three-phase two-level voltage source inverter topology as referred to in the present invention, from which it can be seen that the common neutral open winding electric drive system topology as referred to in the present strategy comprises a first DC source U dc1 A second DC source U dc2 The three-phase inverter comprises a first three-phase two-level inverter VSI1, a second three-phase two-level inverter VSI2, a three-phase stator winding OEWIM, a neutral line I, a capacitor C1, a capacitor C2, a capacitor C3 and a capacitor C4;
the capacitor C1 and the capacitor C2 are connected in series and then connected to a first direct current source U dc1 Between the direct current positive bus P and the direct current negative bus N, the common node of the capacitor C1 and the capacitor C2 is marked as a point O; the capacitor C3 and the capacitor C4 are connected in series and then connected to a second direct current source U dc2 Between the direct current positive bus P 'and the direct current negative bus N', the common node of the capacitor C3 and the capacitor C4 is marked as a point O ', the connecting point O of the central line I and the point O', and the first direct current source U dc1 And a second DC source U dc2 All DC voltages are U dc ；
In the three-phase bridge arm of the first three-phase two-level inverter VSI1, each phase of bridge arm comprises 2 inverted stripsThe switching tubes of the parallel diodes, i.e. the first three-phase two-level inverter VSI1, comprise 6 switching tubes with anti-parallel diodes, and the 6 switching tubes are respectively marked as S n1j Wherein n represents a phase sequence, n = a, b, c, j represents the serial number of a switching tube, and j =1,2; the three-phase bridge arms of the first three-phase two-level inverter VSI1 are connected in parallel between the direct current positive bus P and the direct current negative bus N, namely a switch tube S a11 、S b11 、S c11 The collectors are connected in parallel and then are connected with a direct current positive bus P and a switching tube S a12 、S b12 、S c12 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N; in the three-phase leg of a first three-phase two-level inverter VSI1, a switching tube S a11 And a switching tube S a12 Series, switch tube S b11 And a switching tube S b12 Series, switch tube S c11 And a switching tube S c12 Are connected in series, and the connection points of the three-phase bridge arms are respectively marked as the middle points a of the three-phase bridge arms of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 ；
In the three-phase bridge arm of the second three-phase two-level inverter VSI2, each phase of bridge arm includes 2 switching tubes with anti-parallel diodes, that is, the second three-phase two-level inverter VSI2 includes 6 switching tubes with anti-parallel diodes in total, and the 6 switching tubes are respectively marked as S n2j (ii) a The three-phase bridge arms of the second three-phase two-level inverter VSI2 are mutually connected in parallel between the direct current positive bus P 'and the direct current negative bus N', namely a switch tube S a21 、S b21 、S c21 The collectors are connected in parallel and then connected with a direct current positive bus P', and a switching tube S a22 、S b22 、S c22 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N'; in the three-phase arm of the second three-phase two-level inverter VSI2, the switching tube S a21 And a switching tube S a22 Series, switch tube S b21 And a switching tube S b22 Series, switch tube S c21 And a switching tube S c22 Are connected in series, and the connection points of the three-phase bridge arms are respectively marked as the three-phase bridge arm middle points a of the second three-phase two-level inverter VSI2 2 、b 2 、c 2 ；
The three-phase stator winding OEWIM comprises three-phase windings, and the left ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the first threeThree-phase bridge arm midpoint a of two-phase level inverter VSI1 1 、b 1 、c 1 The right ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the midpoint a of a three-phase bridge arm of a second three-phase two-level inverter VSI2 2 、b 2 、c 2 。
The invention comprises the following steps:
fig. 2 is a flow chart of overmodulation operation in any of the modulators according to the embodiments of the present invention, corresponding to steps 1 to 3.
Step 1, setting a reference voltage vector to be modulated of a three-phase two-level inverter as V ref Reference voltage vector V ref Projection components of coordinate axes alpha, beta and gamma in a three-dimensional space coordinate system are subjected to direct current voltage U dc Performing per unit, and respectively recording as the alpha axis component V of the reference voltage vector α Reference voltage vector beta axis component V β Reference voltage vector gamma axis component V γ Using the reference voltage vector alpha axis component V α Reference voltage vector beta axis component V β Calculating to obtain a reference voltage vector V ref Of the alpha-beta plane component m 1 Reference voltage vector V ref Of the alpha-beta plane component of (a)
Figure BDA0003143507690000091
And a reference voltage vector V ref Modulation degree M corresponding to the alpha-beta plane component of 1 The calculation formula is as follows:
Figure BDA0003143507690000092
for reference voltage vector gamma axis component V γ Orthogonal decomposition is carried out to obtain two components with 90-degree phase difference, which are respectively marked as gamma-axis components V of reference voltage vector γ First orthogonal component V of γ，1 And a reference voltage vector gamma-axis component V γ Of the second quadrature component V γ，2 Calculating the gamma-axis component V of the reference voltage vector γ Amplitude m of 3 And a reference voltage vector gamma axis component V γ Phase of
Figure BDA0003143507690000101
The calculation formula is as follows:
Figure BDA0003143507690000102
calculating a reference voltage vector V ref Characteristic phase difference of
Figure BDA0003143507690000103
The calculation formula is as follows:
Figure BDA0003143507690000104
calculating a reference voltage vector V ref The overmodulation modification curve of (1) is calculated as follows:
Figure BDA0003143507690000105
wherein the content of the first and second substances,
Figure BDA0003143507690000106
modifying a post-reference voltage vector for overmodulation
Figure BDA0003143507690000107
Amplitude of (a), theta 1 And ar is a second intermediate variable of the overmodulation modification curve.
Step 2, according to the reference voltage vector gamma axis component V obtained in the step 1 γ Amplitude m of 3 And reference voltage vector V ref Characteristic phase difference of
Figure BDA0003143507690000108
Calculating the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy max1 And maximum compression modulation degree M max2 ：
Defining a functional formula W 1 The following were used:
Figure BDA0003143507690000109
definition function formula W 2 The following were used:
Figure BDA00031435076900001010
wherein theta is 1 Has a value range of
Figure BDA0003143507690000111
At theta 1 Within the value range of (A) calculating the function formula W 1 Minimum value of W 1min Calculating a functional formula W 2 Minimum value of W 2min When W is 1min ≤W 2min When M is in contact with max1 ＝W 1min When W is 1min >W 2min When, M max1 ＝W 2min Calculating a functional curve W 1 Sum function formula W 2 The function value of the curve intersection point is M max2 。
Step 3, obtaining a reference voltage vector V according to the step 1 and the step 2 ref Modulation degree M corresponding to the alpha-beta plane component of 1 And the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy max1 And maximum compression modulation degree M max2 Carrying out overmodulation judgment;
when calculating M 1 <M max1 If so, the step 3.1 is carried out, namely the linear modulation region is obtained;
when calculating M max1 ≤M 1 ≤M max2 If so, entering a step 3.2 for an overmodulation region;
step 3.1, calculate M 1 <M max1 Linear modulation region of time according to the reference voltage vector alpha-axis component V α Reference voltage vector beta axis component V β And a reference voltage vector gamma-axis component V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 Base voltage vector action time t 2 Base voltage vector action time t 3 And base voltage vectorTime of measurement t 4 Wave generation control is carried out; time t 1 、t 2 、t 3 、t 4 The specific calculation process of (2) is referred to pages 3692-3693 of a document' study on a zero-sequence circulating current suppression strategy of a common direct-current bus open-winding asynchronous motor (Yang shuying et al, chinese Motor engineering journal, vol. 38, no. 12 in 2018), the publication date of which is 2018, 6 and 20.
Step 3.2, calculate M max1 ≤M 1 ≤M max2 An overmodulation region of time;
step 3.21, according to the reference voltage vector V ref Over-modulation modification curve and modulation degree M 1 Calculating an overmodulation modified reference voltage vector
Figure BDA0003143507690000112
Amplitude of
Figure BDA0003143507690000113
Modifying the overmodulation reference voltage vector
Figure BDA0003143507690000114
Projection components of coordinate axes alpha and beta in a three-dimensional space coordinate system are applied with direct current voltage U dc Performing per unit, and respectively recording as the reference voltage vector after overmodulation modification
Figure BDA0003143507690000115
Alpha axis component of (2)
Figure BDA0003143507690000116
And overmodulation modified reference voltage vector
Figure BDA0003143507690000117
Beta axis component of
Figure BDA0003143507690000118
Modifying a reference voltage vector based on overmodulation
Figure BDA0003143507690000119
Alpha axis component of
Figure BDA00031435076900001110
Overmodulation modified reference voltage vector
Figure BDA00031435076900001111
Beta axis component of
Figure BDA00031435076900001112
And a reference voltage vector V ref Component of gamma axis V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM (three-dimensional-sinusoidal pulse Width modulation) strategy 1 Base voltage vector action time t 2 Base voltage vector action time t 3 And base voltage vector action time t 4 ；
When t is 1 T is not less than 0 4 When the value is more than or equal to 0, the value is a circular arc area of the overmodulation area, and the step 3.22 is carried out;
when t is 1 <0 or t 4 <When 0, the boundary area of the overmodulation area is reached, and the step 3.23 is carried out;
step 3.22, the action time t of the basic voltage vector is obtained by calculation 1 Base voltage vector action time t 2 Base voltage vector action time t 3 And base voltage vector action time t 4 Wave generation control is carried out;
step 3.23, the overmodulation modified reference voltage vector
Figure BDA0003143507690000121
Is modified, first based on the overmodulation modified reference voltage vector
Figure BDA0003143507690000122
Alpha axis component of
Figure BDA0003143507690000123
Overmodulation modified reference voltage vector
Figure BDA0003143507690000124
Beta axis component of
Figure BDA0003143507690000125
And a reference voltage vector gamma axis component V γ For overmodulation modified reference voltage vector
Figure BDA0003143507690000126
The modulation body is used for judging the serial number of the modulation body, the corresponding compression plane constraint equation is selected according to the judged serial number of the modulation body, and then the corresponding compression plane constraint equation is combined with the output maximum compression scheme constraint equation to calculate the reference voltage vector after the over-modulation modification
Figure BDA0003143507690000127
Modified alpha component
Figure BDA0003143507690000128
Overmodulation modified reference voltage vector
Figure BDA0003143507690000129
Modified beta axis component
Figure BDA00031435076900001210
Modifying a reference voltage vector based on overmodulation
Figure BDA00031435076900001211
Modified alpha component
Figure BDA00031435076900001212
Overmodulation modified reference voltage vector
Figure BDA00031435076900001213
Modified beta axis component
Figure BDA00031435076900001214
And a reference voltage vector gamma axis component V γ Calculating the base voltage vector action time by using a 3D-AZSPWM (three-dimensional-sinusoidal pulse Width modulation) strategy
Figure BDA00031435076900001215
Base voltage vector action time
Figure BDA00031435076900001216
Base voltage vector action time
Figure BDA00031435076900001217
And base voltage vector action time
Figure BDA00031435076900001218
Wave generation control is carried out; time of day
Figure BDA00031435076900001219
The specific calculation process of (2) is referred to pages 3692-3693 of a document' study on a zero-sequence circulating current suppression strategy of a common direct-current bus open-winding asynchronous motor (Yang shuying et al, chinese Motor engineering journal, vol. 38, no. 12 in 2018), the publication date of which is 2018, 6 and 20.
The specific way of judging the modulation body serial number is as follows: defining the intermediate variables judged by the serial number of the modulation body as a first variable A, a second variable B, a third variable C and a fourth variable N, and defining a functional formula F 1 ，
Figure BDA00031435076900001220
Definition function formula F 2 ，
Figure BDA00031435076900001221
Definition function formula F 3 ，
Figure BDA00031435076900001222
Then:
when F is present 1 When the ratio is more than or equal to 0, A =1,
when F is present 1 <At 0, A =0,
when F is present 2 When the ratio is more than or equal to 0, B =1,
when F is present 2 <0, B =0,
when F is 3 When the ratio is more than or equal to 0, C =1,
when F is 3 <At 0, C =0,
N＝A+2B+4C，
each value of the fourth variable N corresponds to a modulation body number, which is as follows:
n =5 corresponds to modulator 1; n =1 corresponds to the modulator 2; n =3 corresponds to the modulator 3; n =2 corresponds to the modulator 4; n =6 corresponds to the modulator 5; n =4 corresponds to the modulator 6.
The corresponding relation between different values of the fourth variable N and the serial number of the modulation body is shown in the following table:
N 5 1 3 2 6 4
preparation body 1 2 3 4 5 6
Fig. 3 is an explanatory diagram of a 3D-AZSPWM modulation strategy total modulation body in the embodiment of the present invention, which is the total modulation body of the 3D-AZSPWM modulation strategy in an α - β - γ three-dimensional space.
Fig. 4 is a diagram illustrating a 3D-AZSPWM modulation strategy modulation entity separately according to an embodiment of the present invention, where the total modulation entity in fig. 3 is divided into six modulation entities and numbered.
The specific way of selecting the corresponding compression plane constraint equation according to the judged modulation body serial number is as follows:
the compression plane constraint equation of the modulator 1 is:
Figure BDA0003143507690000131
the compression plane constraint equation for the modulator body 2 is:
Figure BDA0003143507690000132
the compression plane constraint equation for the modulator body 3 is:
Figure BDA0003143507690000133
the compression plane constraint equation of the modulation volume 4 is:
Figure BDA0003143507690000134
the compression plane constraint equation of the modulator 5 is:
Figure BDA0003143507690000135
the compression plane constraint equation for the modulator 6 is:
Figure BDA0003143507690000136
the constraint equation of the output maximization compression scheme is as follows:
Figure BDA0003143507690000137
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003143507690000138
modifying a post-reference voltage vector for overmodulation
Figure BDA0003143507690000139
The modified alpha-axis component,
Figure BDA00031435076900001310
Modifying a post-reference voltage vector for overmodulation
Figure BDA00031435076900001311
A modified beta axis component;
namely, the wave-sending control of the 3D-AZSPWM modulation strategy containing overmodulation is realized.
In order to verify the effectiveness of the invention, the invention was experimentally verified. Topological structure first direct current source U of common neutral open winding electric drive system dc1 And a second DC source U dc2 D.c. voltage U dc 280V, the main circuits of a first three-phase two-level inverter VSI1 and a second three-phase two-level inverter VSI2 are composed of Mitsubishi intelligent IGBT power module PM100CLA120, and the switching frequency f s =9600Hz, and the dead zone is set to 3 μ s. Using a three-phase asynchronous motor as a load, the asynchronous motor parameters: rated power p n =3kW, rated phase voltage U N =220V, stator resistance R s =1.93 Ω, mutual inductance L m =0.19H, stator inductance L s =0.21H, number of pole pairs P =2, operating frequency f e =50Hz. Reference voltage vectors needing to be modulated of the common neutral open-winding electric drive system are decoupled by 180 degrees and are evenly distributed to the first three-phase two-level inverter VSI1 and the second three-phase two-level inverter VSI2 for modulation, namely the reference voltage vectors needing to be modulated of the two three-phase two-level inverters are equal in size and opposite in direction.
Fig. 5 shows the gamma component V of the reference voltage vector calculated in step 1 for the first three-phase two-level inverter VSI1 γ Amplitude m of 3 Approximately 0.03, corresponding to a common mode voltage requirement of 8.4V for the first three-phase two-level inverter VSI1, and 16.8V for the total common mode voltage requirement of the common neutral open winding electric drive system.
Fig. 6 shows the calculation of the reference voltage vector V of the first three-phase two-level inverter VSI1 in step 1 ref Characteristic phase difference
Figure BDA0003143507690000141
About 0.5.
FIG. 7 shows the gamma component V at the reference voltage vector γ Amplitude m of 3 About 0.03, reference voltage vector V ref Characteristic phase difference of
Figure BDA0003143507690000142
Reference voltage vector V plotted by step 1 under the condition of about 0.5 ref Over-modulation modification curve.
FIG. 8 shows the gamma component V at the reference voltage vector γ Amplitude m of 3 About 0.03, reference voltage vector V ref Characteristic phase difference of
Figure BDA0003143507690000143
About 0.5 by step 2 1 Sum function formula W 2 A curve, the maximum linear modulation degree M of the VSI1 corresponding to the first three-phase two-level inverter obtained through calculation by using a 3D-AZSPWM modulation strategy max1 The maximum compression modulation degree M is calculated and is 0.742, namely the maximum output of the first three-phase two-level inverter VSI1 is linearly modulated by using a 3D-AZSPWM modulation strategy to be 132.25V, and the maximum compression modulation degree M is obtained max2 Is 0.907.
FIG. 9 shows a reference voltage vector V for a first three-phase two-level inverter VSI1 ref Modulation degree M corresponding to the alpha-beta plane component of 1 And when the voltage rises from 0.72 to 0.8, the total output fundamental wave voltage amplitude of the common neutral open-winding electric drive system is modulated by using a 3D-AZSPWM modulation strategy. Therefore, the total output fundamental voltage amplitude can effectively break through the traditional linear modulation maximum constraint of 264.5V by using the over-modulation strategy, when the instruction value is 284V, the proposed scheme can maximally output about 282V, namely after the inherent error caused by experimental factors is ignored, the proposed over-modulation scheme can effectively follow the modulation instruction while meeting the common-mode component modulation requirement, the over-modulation output maximization is realized, and the modulation range of the 3D-AZSPWM modulation strategy is effectively improved.
Fig. 10 shows a reference voltage vector V of a first three-phase two-level inverter VSI1 ref Modulation degree M corresponding to alpha-beta plane component of (1) 1 When the voltage rises from 0.72 to 0.8, a schematic diagram of the common-mode voltage amplitude of the total output of the common-neutral open-winding electric drive system is modulated by using a 3D-AZSPWM modulation strategy, so that the output common-mode voltage amplitude can be kept unchanged while overmodulation is realized, and the modulation of common-mode components required by zero-sequence circulating current closed-loop control such as common-neutral open-winding is met.
FIG. 11 shows a reference voltage vector V for a first three-phase two-level inverter VSI1 ref Modulation degree M corresponding to the alpha-beta plane component of 1 When the voltage rises from 0.72 to 0.8, the fundamental wave voltage THD change condition of the total output of the common neutral open-winding electric drive system is modulated by using a 3D-AZSPWM modulation strategy, a contrast linear modulation region can be seen, the fundamental wave voltage THD in an overmodulation region rises in a small amplitude, and the harmonic wave performance is better.
Fig. 12 shows a reference voltage vector V of a first three-phase two-level inverter VSI1 ref Modulation degree M corresponding to alpha-beta plane component of (1) 1 When the speed of the asynchronous motor is increased from 0.72 to 0.8, the speed of the asynchronous motor is increased under the control of the common neutral open winding electric drive system when the 3D-AZSPWM modulation strategy is used for modulation, so that the rotating speed of the motor is stably increased, and the overmodulation algorithm can expand the running range of the motor under the control of the 3D-AZSPWM modulation strategy.
In the experiment, the determination of the modulation entity number was also verified in the following manner.
As can be seen from fig. 13, the value of the fourth variable N varies sequentially by 5, 1, 3, 2, 6 and 4 in one fundamental wave period, corresponding to the reference voltage vector V ref The modulation body 1 to the modulation body 6 rotate continuously for one circle, and the judgment of the modulation body serial number is accurate and effective.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (9)

1. A3D-AZSPWM modulation strategy overmodulation output maximization method is characterized by comprising the following steps:
step S1, calculating a reference voltage vector V ref Of the alpha-beta plane component m 1 Phase of
Figure FDA00038892303900000111
And modulation degree M 1 Calculating a reference voltage vector V ref Gamma axis component V of γ Amplitude m of 3 And phase
Figure FDA00038892303900000112
Calculating a reference voltage vector V ref Characteristic phase difference of
Figure FDA00038892303900000113
And reference voltage vector V ref Overmodulation modification curve of (1);
step S2, according to the amplitude m in the step S1 3 And characteristic phase difference
Figure FDA00038892303900000114
Calculating the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy max1 And maximum compression modulation degree M max2 ；
Step S3, according to the modulation degree M 1 Maximum linear modulation degree M max1 And maximum compression modulation degree M max2 And performing overmodulation determination:
when calculating M 1 <M max1 In the time, the linear modulation area is adopted for wave sending control, and the method comprises the following steps: according to V α 、V β And V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 、t 2 、t 3 And t 4 Performing wave generation control;
wherein V α 、V β Are respectively reference voltage vector V ref For three-dimensional space coordinate systemProjection components of alpha and beta axes of the central axis are represented by direct current voltage U dc Per-unit value;
when calculating M max1 ≤M 1 ≤M max2 In the time, the overmodulation region is adopted for wave generation control, and the method comprises the following steps:
according to a reference voltage vector V ref Over-modulation modification curve and modulation degree M 1 Calculating overmodulation modified reference voltage vectors
Figure FDA0003889230390000011
Amplitude of
Figure FDA0003889230390000012
Modifying a reference voltage vector based on overmodulation
Figure FDA0003889230390000013
Amplitude of
Figure FDA0003889230390000014
Calculating overmodulation modified reference voltage vectors
Figure FDA0003889230390000015
Alpha axis component of
Figure FDA0003889230390000016
And overmodulation modified reference voltage vector
Figure FDA0003889230390000017
Beta axis component of
Figure FDA0003889230390000018
When t is 1 T is not less than 0 4 When not less than 0, the area is a circular arc area of the overmodulation area according to V α 、V β And V γ Calculating the base voltage vector action time t by using a 3D-AZSPWM modulation strategy 1 、t 2 、t 3 And t 4 Proceed to hairWave control;
when t is 1 <0 or t 4 <At 0, the boundary region of the overmodulation region is the modified reference voltage vector
Figure FDA0003889230390000019
The alpha-beta plane component of (a) is modified:
first according to V α 、V β And V γ For overmodulation modified reference voltage vector
Figure FDA00038892303900000110
Judging the serial number of the modulation body in which the modulation body is positioned, and selecting a corresponding compression plane constraint equation according to the judged serial number of the modulation body; the constraint equation of the output maximization compression scheme is as follows:
Figure FDA0003889230390000021
wherein the content of the first and second substances,
Figure FDA0003889230390000022
modifying a post-reference voltage vector for overmodulation
Figure FDA0003889230390000023
The modified alpha-axis component,
Figure FDA0003889230390000024
Modifying a post-reference voltage vector for overmodulation
Figure FDA0003889230390000025
A modified beta axis component;
and then the reference voltage vector after the over modulation modification is obtained by simultaneous calculation with the constraint equation of the output maximum compression scheme
Figure FDA0003889230390000026
Modified alpha component
Figure FDA0003889230390000027
Component of beta axis
Figure FDA0003889230390000028
Finally, the modified reference voltage vector is modified according to overmodulation
Figure FDA0003889230390000029
Modified alpha axis component
Figure FDA00038892303900000210
Beta axis component
Figure FDA00038892303900000211
And V γ Calculating the action time of the modified base voltage vector by using a 3D-AZSPWM (three-dimensional-amplitude-zero-crossing-pulse width modulation) modulation strategy
Figure FDA00038892303900000212
And
Figure FDA00038892303900000213
wave generation control is performed.
2. The method for maximizing overmodulation output of a 3D-AZSPWM modulation strategy as recited in claim 1, wherein the reference voltage vector V is calculated in step S1 ref Of the alpha-beta plane component m 1 Phase of
Figure FDA00038892303900000214
And modulation degree M 1 The formula of (1) is as follows:
Figure FDA00038892303900000215
3. according to claim 2The method for maximizing overmodulation output of the 3D-AZSPWM modulation strategy is characterized in that a reference voltage vector V is calculated in step S1 ref Gamma axis component V of γ Amplitude m of 3 And phase
Figure FDA00038892303900000216
The formula of (1) is:
Figure FDA00038892303900000217
wherein, V γ，1 Is a first orthogonal component, V γ，2 Is a second orthogonal component; the first and second orthogonal components are pairs V γ Orthogonal decomposition is carried out to obtain two components which are 90 degrees different in phase.
4. The method for maximizing overmodulation output of a 3D-AZSPWM modulation strategy as recited in claim 2 wherein the reference voltage vector V is calculated in step S1 ref Characteristic phase difference of
Figure FDA0003889230390000031
The calculation formula is as follows:
Figure FDA0003889230390000032
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003889230390000033
is a reference voltage vector V ref Gamma axis component V of γ The phase of (a) is determined,
Figure FDA0003889230390000034
is a reference voltage vector V ref The phase of the alpha-beta plane component of (a).
5. The 3D-AZSPWM modulation strategy of claim 2Bypassing the modulation output maximization method, characterized in that, in step S1, the reference voltage vector V is calculated ref The overmodulation modification curve of (1) is calculated as follows:
Figure FDA0003889230390000035
wherein the content of the first and second substances,
Figure FDA0003889230390000036
modifying a post-reference voltage vector for overmodulation
Figure FDA0003889230390000037
Amplitude of (a), theta 1 The first intermediate variable of the overmodulation modification curve and ar the second intermediate variable of the overmodulation modification curve.
6. A method for maximizing overmodulation output of a 3D-AZSPWM modulation strategy according to claim 2, characterized in that in step S2 the maximum linear modulation degree M of the 3D-AZSPWM modulation strategy is calculated max1 And maximum compression modulation degree M max2 The method comprises the following specific steps:
defining a functional formula W 1 ，
Figure FDA0003889230390000038
Defining a functional formula W 2 ，
Figure FDA0003889230390000039
Wherein, theta 1 Modifying the first intermediate variable of the curve, θ, for overmodulation 1 Has a value range of
Figure FDA00038892303900000310
At theta 1 Within a value range of (c) calculating a functional formula W 1 Minimum value of W 1min Calculating a functional formula W 2 Minimum value of W 2min When W is 1min ≤W 2min When M is in contact with max1 ＝W 1min When W is 1min >W 2min When, M max1 ＝W 2min Calculating a functional curve W 1 Formula of sum function W 2 The function value of the curve intersection point is M max2 。
7. The method for maximizing overmodulation output of a 3D-AZSPWM modulation strategy according to claim 1, wherein the specific manner of judging the modulation body number is as follows:
defining intermediate variables of modulation body serial number judgment as a first variable A, a second variable B, a third variable C and a fourth variable N, and defining a functional formula F 1 ，
Figure FDA0003889230390000041
Definition function formula F 2 ，F 2 ＝2V γ -V α Define the functional formula F 3 ，
Figure FDA0003889230390000042
Then:
when F is present 1 When the ratio is more than or equal to 0, A =1; when F is present 1 <0, a =0; when F is present 2 When the ratio is more than or equal to 0, B =1; when F is present 2 <0, B =0; when F is 3 When the ratio is more than or equal to 0, C =1; when F is 3 <At 0, C =0; n = A +2B +4C;
each value of the fourth variable N corresponds to a modulation body number, which is as follows: n =5 corresponds to modulator 1; n =1 corresponds to the modulator 2; n =3 corresponds to the modulator 3; n =2 corresponds to the modulator 4; n =6 corresponds to the modulator 5; n =4 corresponds to the modulator 6.
8. The method for maximizing overmodulation output of a 3D-AZSPWM modulation strategy according to claim 1, wherein the specific way of selecting the corresponding compression plane constraint equation from the determined modulation entity number is as follows:
compression of a modulation body 1The surface constraint equation is:
Figure FDA0003889230390000043
the compression plane constraint equation of the modulation volume 2 is:
Figure FDA0003889230390000044
the compression plane constraint equation for the modulator body 3 is:
Figure FDA0003889230390000045
the compression plane constraint equation of the modulation volume 4 is:
Figure FDA0003889230390000046
the compression plane constraint equation of the modulator 5 is:
Figure FDA0003889230390000047
the compression plane constraint equation for the modulating body 6 is:
Figure FDA0003889230390000048
9. a system for application to the method of maximizing overmodulation output of a 3D-AZSPWM modulation strategy according to any of claims 1-8, comprising: first DC source U dc1 A second DC source U dc2 The three-phase two-level inverter comprises a first three-phase two-level inverter VSI1, a second three-phase two-level inverter VSI2, a three-phase stator winding OEWIM, a neutral line I, a capacitor C1, a capacitor C2, a capacitor C3 and a capacitor C4;
the capacitor C1 and the capacitor C2 are connected in series and then connected to a first direct current source U dc1 Between the direct current positive bus P and the direct current negative bus N, the common node of the capacitor C1 and the capacitor C2 is marked as a point O; the capacitor C3 and the capacitor C4 are connected in series and then connected to a second direct current source U dc2 Between the direct current positive bus P' and the direct current negative bus NThe common node of the capacitor C3 and the capacitor C4 is marked as a point O ', the connecting point O of the midline I and the point O', and a first direct current source U dc1 And a second DC source U dc2 All DC voltages are U dc ；
In the three-phase bridge arm of the first three-phase two-level inverter VSI1, each phase of bridge arm comprises 2 switching tubes with anti-parallel diodes, namely the first three-phase two-level inverter VSI1 comprises 6 switching tubes with anti-parallel diodes in total, and the 6 switching tubes are respectively marked as S n1j Wherein n represents a phase sequence, n = a, b, c, j represents the serial number of a switching tube, and j =1,2; three-phase bridge arms of a first three-phase two-level inverter VSI1 are mutually connected in parallel between a direct-current positive bus P and a direct-current negative bus N, namely a switch tube S a11 、S b11 、S c11 The collectors are connected in parallel and then are connected with a direct current positive bus P and a switching tube S a12 、S b12 、S c12 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N; in the three-phase leg of a first three-phase two-level inverter VSI1, a switching tube S a11 And a switching tube S a12 Series, switch tube S b11 And a switching tube S b12 Series, switch tube S c11 And a switching tube S c12 Are connected in series, and the connection points of the three-phase bridge arms are respectively marked as the three-phase bridge arm middle points a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 ；
In the three-phase bridge arm of the second three-phase two-level inverter VSI2, each phase of bridge arm includes 2 switching tubes with anti-parallel diodes, that is, the second three-phase two-level inverter VSI2 includes 6 switching tubes with anti-parallel diodes in total, and the 6 switching tubes are respectively marked as S n2j (ii) a The three-phase bridge arms of the second three-phase two-level inverter VSI2 are mutually connected in parallel between the direct current positive bus P 'and the direct current negative bus N', namely a switch tube S a21 、S b21 、S c21 The collectors are connected in parallel and then connected with a direct current positive bus P', and a switching tube S a22 、S b22 、S c22 The emitting electrodes are connected in parallel and then connected with a direct current negative bus N'; in the three-phase leg of the second three-phase two-level inverter VSI2, the switching tube S a21 And a switching tube S a22 Series, switch tube S b21 And a switching tube S b22 Series, switch tube S c21 And a switching tube S c22 Are connected in series, and the connection points of the three-phase bridge arms are respectively marked as the three-phase bridge arm midpoint a of the second three-phase two-level inverter VSI2 2 、b 2 、c 2 ；
The three-phase stator winding OEWIM comprises a three-phase winding, and left ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with a three-phase bridge arm midpoint a of the first three-phase two-level inverter VSI1 1 、b 1 、c 1 The right ports of the A-phase winding, the B-phase winding and the C-phase winding are respectively connected with the midpoint a of a three-phase bridge arm of a second three-phase two-level inverter VSI2 2 、b 2 、c 2 。
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